Modular passive joint assembly and robot

Abstract

The utility model provides a modular passive joint assembly and a robot. The modular passive joint assembly comprises a skeleton simulation piece, a rotary connecting piece and an elastic assembly. The skeleton simulation piece is provided with an accommodating part for accommodating the rotary connecting piece; one side of the accommodating part is communicated with the outside, and the other side of the accommodating part is communicated with a hollow space in the accommodating part; the rotary connecting piece is arranged in the accommodating part, can rotate relative to the accommodating part, and is provided with a first connecting piece for external connection and a second connecting piece positioned in the hollow space; the elastic assembly is located in the hollow space, connected to the second connecting piece and the inner wall of the hollow space and used for resetting on the second connecting piece. When being subjected to external force, the rotating connecting piece can adapt to the external force to deform so as to prevent the external force from being transmitted to other joints to affect the overall stability of the robot, and due to the arrangement of the elastic assembly, after the external force disappears, the rotating connecting piece can reset under the action of the elastic assembly.

Description

Technical Field

[0001] This utility model relates to the field of robot equipment technology, and in particular to a modular passive joint component and robot. Background Technology

[0002] In robotics, various components are used to connect two structural parts together (called joints) to achieve hinged or converging movements. Joints are divided into active joints and passive joints. Active joints are driven by built-in hydraulic or electric motors. Passive joints have no driving components; they move under the influence of external forces.

[0003] Currently, quadrupedal and humanoid robots are the mainstream research and development areas, aiming to mimic the anatomical structures of animals or humans. Humans and animals possess remarkable flexibility, not only in their limbs but also in areas with numerous joints such as the neck, back, hands, and feet. Due to the complexity of human and animal body structures, complete simulation would result in an excessive number of drive components, complicating control and assembly, and requiring significant installation space. To reduce the number of drive components, most industries focus on a limited number of joints. For example, quadrupedal robots typically have 12 joints (3 per leg), while the torso consists of a single rigid component. In humanoid robots, the number of joints in the legs and arms is similar to that in humans, while the torso and neck remain single, rigid blocks. These rigid blocks cannot effectively absorb external forces, causing instability; for example, pushing a humanoid robot on the back with excessive force can cause it to fall. These problems urgently need to be addressed. Summary of the Invention

[0004] To address the problems existing in the background art, this utility model provides a modular passive joint component and a robot.

[0005] A modular passive joint assembly includes a skeletal model, a rotating connector, and an elastic component. The skeletal model has a receiving portion for accommodating the rotating connector. One side of the receiving portion communicates with the outside, and the other side communicates with a hollow space inside the receiving portion. The rotating connector is disposed in the receiving portion and is rotatable relative to the receiving portion. It has a first connector for external connection and a second connector located within the hollow space. The elastic component is located within the hollow space and is connected to the second connector and the inner wall of the hollow space, for resetting upon repositioning of the second connector.

[0006] Furthermore, the rotating connector also includes a main body; the main body is a table-shaped structure with two table bottom surfaces parallel and located on both sides of the center of the ball; the first connector and the second connector are detachably connected to the table bottom surfaces of the main body; the receiving part is a table-shaped structure adapted to the main body.

[0007] Furthermore, the first connector and the second connector each have the same flange as the ball notch of the main body.

[0008] Furthermore, the receiving part includes a receiving body and an insertion channel; the receiving body is used to receive the body; one side of the insertion channel extends through the surface of the skeletal simulation piece, and the other side connects to the receiving body, and the shape of the insertion channel is adapted to the cross-sectional shape of the body that passes through the center of the body and is perpendicular to the bottom surface of the table.

[0009] Furthermore, it also includes the connecting seat; the connecting seat has the receiving portion, and the connecting seat is screwed to the skeletal simulator to change the length of the first connecting member exposed in the receiving portion.

[0010] Furthermore, the elastic component includes multiple elastic elements; one end of each elastic element is connected to the second connector, and the other end is connected to the inner wall of the hollow space, so that the multiple elastic elements form a structure that is connected end to end, and the included angle formed by two adjacent elastic elements connected to the same second connector is the same.

[0011] Furthermore, the second connector and the inner wall of the hollow space are provided with connection positions for connecting the elastic element at equal intervals along their respective circumferences, and the connection positions of the second connector and the inner wall of the hollow space are spaced apart in the axial direction.

[0012] Furthermore, the elastic element is a spring.

[0013] Furthermore, the rotating connector, the portion forming the receiving part, and the location connecting the elastic component are made of wear-resistant material.

[0014] Furthermore, the second connector and the inner wall of the hollow space are respectively provided with fixing positions for connecting the elastic component.

[0015] In a second aspect, the present invention also provides a robot comprising any of the modular passive joint components described above.

[0016] The beneficial effects of this utility model are as follows: This utility model provides a modular passive joint assembly that uses a skeleton simulator, a rotating connector, and an elastic component to achieve passive joint simulation. When subjected to external force, the rotating connector can rotate relative to the skeleton simulator, thus adapting to the deformation caused by the external force and preventing the external force from being transmitted to other joints and affecting the overall stability of the robot. Furthermore, due to the elastic component, the rotating connector can reset under the action of the elastic component after the external force disappears, thereby making the robot closer to a realistic simulation and facilitating disassembly and assembly. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a modular passive joint assembly according to this utility model;

[0018] Figure 2 This is a cross-sectional structural diagram of a modular passive joint assembly according to the present invention;

[0019] Figure 3 This is an exploded structural diagram of a modular passive joint assembly according to this utility model;

[0020] Figure 4 This is a schematic diagram of the main installation structure of this utility model;

[0021] Figure 5 This is a structural schematic diagram of the elastic element of this utility model;

[0022] Figure 6 This is a three-dimensional structural diagram of a modular passive joint assembly according to this utility model;

[0023] Figure 7 This is a structural schematic diagram of the second connecting member of this utility model.

[0024] Legend: 1. Skeletal simulation component; 11. Receiving part; 111. Receiving body; 112. Insertion channel; 12. Hollow space; 2. Rotating connector; 21. First connector; 22. Second connector; 23. Body; 3. Elastic component; 31. Elastic component; 4. Connecting seat. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The term "plural" in the specification, claims, or foregoing drawings of this application refers to two or more (including two).

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] The following description, with reference to the accompanying drawings, details a modular passive joint assembly and robot of this application.

[0029] like Figures 1-3 As shown, a modular passive joint assembly includes a skeletal model 1, a rotating connector 2, and an elastic component 3. The skeletal model 1 has a receiving portion 11 for accommodating the rotating connector 2. One side of the receiving portion 11 is connected to the outside, and the other side is connected to a hollow space 12 inside the receiving portion 11. The rotating connector 2 is disposed in the receiving portion 11 and is rotatable relative to the receiving portion 11. It has a first connector 21 for external connection and a second connector 22 located within the hollow space 12. The elastic component 3 is located within the hollow space 12 and is connected to the second connector 22 and the inner wall of the hollow space 12, for repositioning the second connector 22. Preferably, the first connector 21 is integrally formed with the external connection structure and can be cylindrical or square (e.g., ...). Figure 6 The specific shape is determined according to the requirements.

[0030] This utility model discloses a modular passive joint assembly. It achieves passive joint simulation by using a skeleton simulator 1, a rotating connector 2, and an elastic component 3. When subjected to external force, the rotating connector 2 can rotate relative to the skeleton simulator 1, thus adapting to the deformation caused by the external force and preventing the external force from being transmitted to other joints and affecting the overall stability of the robot. Because of the elastic component 4, the rotating connector 2 can be reset under the action of the elastic component 4 after the external force disappears. This makes the robot closer to the real simulation and facilitates disassembly and assembly.

[0031] In some preferred embodiments, such as Figures 2-4As shown, the rotating connector 2 also includes a main body 23; the main body 23 has a table-shaped structure with two table bottom surfaces parallel and located on both sides of the center of the ball; the first connector 21 and the second connector 22 are detachably connected to the table bottom surfaces of the main body 23, such as by screwing or plugging; the receiving part 11 is a table-shaped structure adapted to the main body 23. Preferably, the first connector 21 and the second connector 22 are coaxially arranged.

[0032] In some preferred embodiments, the first connector 21 and the second connector 22 each have the same flange as the ball notch of the main body 23; thereby, the stability of the main body 23 during rotation can be improved, and the distance of the first connector 21 and the second connector 22 extending into the main body 23 can be limited to ensure the accuracy of assembly; preferably, the first connector 21 and the second connector 22 are screwed to the main body 23 respectively.

[0033] In some preferred embodiments, such as Figure 4 As shown, the receiving part 11 includes a receiving body 111 and an insertion channel 112; the receiving body 111 is used to receive the body 23; one side of the insertion channel 112 penetrates the surface of the skeleton simulation piece 1, and the other side is connected to the receiving body 111, and the shape of the insertion channel 112 is adapted to the cross-sectional shape of the body 23 that passes through the center of the body 23 and is perpendicular to the bottom surface of the table; after the body 23 is inserted into the receiving body 111 through the insertion channel 112, it is rotated at a certain angle so that the position connecting the first connector 21 and the second connector 22 is exposed. At this time, the receiving body 111 can restrict the body 23 from detaching, thereby facilitating disassembly and assembly.

[0034] In some preferred embodiments, such as Figures 2-4 As shown, it also includes a connecting seat 4; the connecting seat 4 has a receiving portion 11, and the connecting seat 4 is screwed to the bone simulation component 1 to change the length of the first connecting member 21 exposed in the receiving portion 11; based on this, the angle of rotation of the first connecting member 21 can be adjusted, that is, the range of motion of the joint can be adjusted.

[0035] In some preferred embodiments, such as Figures 2-5 As shown, the elastic component 3 includes multiple elastic elements 31; one end of each elastic element 31 is connected to the second connecting member 22, and the other end is connected to the inner wall of the hollow space 12, so that the multiple elastic elements 31 form a structure with their ends connected, and the included angle formed by two adjacent elastic elements 31 connected to the same second connecting member 22 is the same; based on this, when the second connecting member 22 moves, the force exerted by the elastic component 3 on it in different directions of movement is approximately the same, and it can achieve reset after the external force is eliminated; the number of elastic elements 31 is determined according to the working conditions. For example, when the load is large, more elastic elements 31 are set to ensure timely reset, and conversely, the number of elastic elements 31 can be reduced to ensure timely reset when the deformation occurs under external force and no external force is applied.

[0036] Preferably, the second connector 22 and the inner wall of the hollow space 12 are provided with connection positions for connecting the elastic member 31 at equal intervals along their respective circumferences, and the connection positions of the second connector 22 and the inner wall of the hollow space 12 are spaced apart in the axial direction.

[0037] Preferably, the elastic element 31 is a spring; during installation, the elongation of each spring is the same.

[0038] In some preferred embodiments, the rotating connector 2, the portion forming the receiving portion 11, and the location of the connecting elastic component 3 are made of a wear-resistant material, such as carbon; thereby increasing service life.

[0039] In some preferred embodiments, such as Figure 2 and Figure 7 As shown, the inner walls of the second connector 22 and the hollow space 12 are respectively provided with fixing positions for connecting the elastic component 3; the fixing positions are evenly distributed along the circumference of the second connector 22 or the hollow space 12, and the number is the same.

[0040] In some preferred embodiments, such as Figure 7 As shown, the second connecting member 22 can increase the rotation range by reducing its diameter, and the specific dimensions can be determined according to the working conditions and load size.

[0041] A robot comprising the aforementioned modular passive joint assembly.

Claims

1. A modular passive joint assembly, characterized in that, It includes a skeletal model (1), a rotating connector (2), and an elastic component (3); The skeletal model (1) has a receiving portion (11) for accommodating the rotating connector (2). The receiving part (11) is connected to the outside on one side and to the hollow space (12) inside the receiving part (11) on the other side. The rotating connector (2) is disposed on the receiving part (11) and can rotate relative to the receiving part (11), and has a first connector (21) for external connection and a second connector (22) located in the hollow space (12). The elastic component (3) is located within the hollow space (12) and is connected to the second connector (22) and the inner wall of the hollow space (12) for resetting the second connector (22).

2. The modular passive joint assembly according to claim 1, characterized in that, The rotating connector (2) also includes a main body (23); The main body (23) is a table-shaped structure with two table bottom surfaces parallel and located on both sides of the center of the ball; The first connector (21) and the second connector (22) are detachably connected to the bottom surface of the table of the main body (23); The receiving part (11) is a table-shaped structure adapted to the main body (23).

3. A modular passive joint assembly according to claim 2, characterized in that, The first connector (21) and the second connector (22) each have the same flange as the ball notch of the main body (23).

4. A modular passive joint assembly according to claim 2, characterized in that, The receiving part (11) includes a receiving body (111) and an insertion channel (112). The receiving body (111) is used to receive the body (23); The insertion channel (112) extends through the surface of the skeleton simulation component (1) on one side and connects to the receiving body (111) on the other side. The shape of the insertion channel (112) is adapted to the cross-sectional shape of the body (23) that passes through the center of the body (23) and is perpendicular to the bottom surface of the table.

5. A modular passive joint assembly according to claim 1, characterized in that, It also includes a connector (4); The connector (4) has the receiving portion (11), and the connector (4) is screwed to the skeleton simulator (1) to change the length of the first connector (21) exposed in the receiving portion (11).

6. A modular passive joint assembly according to claim 1, characterized in that, The elastic component (3) includes multiple elastic elements (31); Each of the elastic elements (31) is connected at one end to the second connector (22) and at the other end to the inner wall of the hollow space (12), so that the multiple elastic elements (31) form a structure that is connected end to end, and the included angle formed by two adjacent elastic elements (31) connected to the same second connector (22) is the same.

7. A modular passive joint assembly according to claim 6, characterized in that, The elastic element (31) is a spring.

8. A modular passive joint assembly according to any one of claims 1-7, characterized in that, The rotating connector (2), the portion forming the receiving part (11), and the position connecting the elastic component (3) are made of wear-resistant material.

9. A modular passive joint assembly according to any one of claims 1-7, characterized in that, The second connector (22) and the inner wall of the hollow space (12) are respectively provided with fixing positions for connecting the elastic component (3).

10. A robot, characterized in that, Includes the modular passive joint assembly described in any one of claims 1-9 above.

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